CN110009567A - For fish-eye image split-joint method and device - Google Patents
For fish-eye image split-joint method and device Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/04—Context-preserving transformations, e.g. by using an importance map
- G06T3/047—Fisheye or wide-angle transformations
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- G06T3/60—Rotation of whole images or parts thereof
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- G06T5/00—Image enhancement or restoration
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Abstract
The embodiment of the present application is disclosed for fish-eye image split-joint method and device.One specific embodiment of this method includes: the first image for obtaining the shooting of the first fish eye lens and the second image of the second fish eye lens shooting, and the second fish-eye shooting area exists with the first fish-eye shooting area to partly overlap；The first image and the second image is unfolded according to the mapping matrix pre-established for the first fish eye lens and the second fish eye lens, obtains the first unfolded image and the second unfolded image；The second unfolded image is rotated according to for the spin matrix that the first fish eye lens and the second fish eye lens pre-establish；Splice the first unfolded image and postrotational second unfolded image.This embodiment improves the efficiency for the image that splicing fish eye lens takes.
Description
Technical field
The invention relates to field of computer technology, more particularly, to fish-eye image split-joint method and dress
It sets.
Background technique
A popular research direction of the image mosaic as field of image processing, causes deeply grinding for domestic and foreign scholars
Study carefully.Although current image mosaic technology achieves certain achievement, but since the subject being related to is numerous, and the field is still at present
In the research and development stage, it is various using further genralrlization to push that there are no the technologies of enough maturations.
Fish-eye camera visual angle is wide, and the number of image to be spliced can be reduced by carrying out splicing using fish-eye camera, increases
Splice efficiency, in robot navigation, the fields such as aerospace are all widely used, and it is even super that fish eye lens can shoot 180 degree
The scenery of 180 degree is crossed, splicing need only consider the splicing between two images, greatly simplify the building process of panorama sketch.But
Due to the imaging model of fisheye camera be it is nonlinear, this brings stern challenge to splicing, be based on fish-eye video
Splicing is the upgrading again of difficulty, not only has higher requirement to the real-time of splicing, also to the continuity between consecutive frame
Propose higher requirement.
Summary of the invention
The embodiment of the present application is proposed for fish-eye image split-joint method and device.
In a first aspect, some embodiments of the present application provide one kind for fish-eye image split-joint method, the party
Method includes: the first image for obtaining the shooting of the first fish eye lens and the second image of the second fish eye lens shooting, the second flake mirror
The shooting area of head exists with the first fish-eye shooting area to partly overlap；According to for the first fish eye lens and the second fish
The first image and the second image is unfolded in the mapping matrix that glasses head pre-establishes, and obtains the first unfolded image and the second expanded view
Picture；The second unfolded image is revolved according to for the spin matrix that the first fish eye lens and the second fish eye lens pre-establish
Turn；Splice the first unfolded image and postrotational second unfolded image.
It in some embodiments, will according to the mapping matrix pre-established for the first fish eye lens and the second fish eye lens
First image and the second image are mapped to spherical surface and are expanded to before panorama sketch, method further include: to the first image and/or second
Image carries out color correction.
In some embodiments, color correction is carried out to the first image and/or the second image, comprising: by the first image and
Second image is from red, green, blue color space conversion to tone, saturation degree, lightness color space；Count respectively in the first image and
In the overlapping region of second image, the saturation degree and/or lightness of the first image and the second image；According to the saturation degree counted
And/or lightness adjusts the saturation degree and/or lightness of pixel in the first image and the second image.
In some embodiments, picture in the first image and the second image is adjusted according to the saturation degree and/or lightness counted
The saturation degree and/or lightness of element, comprising: determine the pixel in the first image in the overlapping region of the first image and the second image
The ratio of the sum of the saturation degree of pixel in the sum of saturation degree, with the second image in the overlapping region of the first image and the second image
Value；The saturation degree of pixel in second image is adjusted to the ratio times of the sum of identified saturation degree；And/or determine the first image
In the sum of the lightness of pixel in the overlapping region of the first image and the second image, with the first image in the second image and the second figure
The ratio of the sum of the lightness of pixel in the overlapping region of picture；The lightness of pixel in second image is adjusted to identified lightness
The sum of ratio times.
In some embodiments, splice the first unfolded image and postrotational second unfolded image, comprising: advise by dynamic
The method drawn determines the suture of the first unfolded image and postrotational second unfolded image；After the first unfolded image and rotation
The second unfolded image overlapping region carry out multi-resolution Fusion, obtain the first stitching image；By the image of suture two sides
Splicing is weighted with the first stitching image respectively, the weight of the pixel of the first stitching image arrives suture according to pixel
Distance is successively decreased from the near to the remote.
In some embodiments, mapping matrix includes the matrix established via following steps: obtaining the first fish eye lens and claps
Second history image of the first history image taken the photograph and the shooting of the second fish eye lens；According to the pixel number of pre-set expanded view
In spherical surface, equally spaced warp and weft are set；The pixel in the first history image is reflected according to the first fish-eye visual angle
It is mapped to set warp and weft and is formed by intersection point, and will be in the second history image according to the second fish-eye visual angle
Pixel is mapped to set warp and weft and is formed by intersection point；According to the coordinate of the pixel in the first history image with
Coordinate of the intersection point being mapped in expanded view, which is established, is directed to the first fish-eye mapping matrix, and according to the second history image
In the coordinate of pixel establish with the coordinate of the intersection point that is mapped in expanded view for the second fish-eye mapping matrix.
In some embodiments, spin matrix includes the matrix established via following steps: obtaining the first fish eye lens and claps
4th history image of the third history image taken the photograph and the shooting of the second fish eye lens, third history image and the 4th history image are clapped
It is photographed on the same period；Third history image and the 4th history image is unfolded, obtains third unfolded image and the 4th unfolded image；
Determine the overlapping region in third unfolded image and the 4th unfolded image；Weight in third unfolded image and the 4th unfolded image
Folded region determines matched characteristic point；Identified characteristic point is mapped on spherical surface and calculates the 4th history image relative to third
The deviation angle of history image；Spin matrix is established according to deviation angle.
In some embodiments, the overlapping region in third unfolded image and the 4th unfolded image determines matched feature
Point, comprising: matched characteristic point is determined by overlapping region of the sliding window in third unfolded image and the 4th unfolded image.
In some embodiments, the first fish eye lens is placed in opposite directions with the second fish eye lens, the first fish eye lens and second
Fish-eye visual angle is greater than 180 °.
In some embodiments, spin matrix includes the matrix established via following steps: obtaining the first fish eye lens and claps
6th history image of the 5th history image taken the photograph and the shooting of the second fish eye lens, the 5th history image and the 6th history image are clapped
It is photographed on the same period；The 5th history image and the 6th history image is unfolded, obtains the 5th unfolded image and the 6th unfolded image；
Determine third unfolded image and the first overlapping region and the second overlapping region in the 4th unfolded image；In the first overlapping region and
Second overlapping region determines matched characteristic point；The characteristic point of identified first overlapping region is mapped on spherical surface and calculates
First deviation angle of six history images relative to the 5th history image, and the characteristic point of identified second overlapping region is reflected
It is mapped on spherical surface and calculates second deviation angle of the 6th history image relative to the 5th history image；According to the first deviation angle and
Second deviation angle establishes spin matrix.
In some embodiments, spin matrix is established according to the first deviation angle and the second deviation angle, comprising: according to
One deviation angle establishes the first spin matrix, and establishes the second spin matrix according to the second deviation angle；Weft on globally
Smooth operation is carried out to the first spin matrix and the second spin matrix, obtains the warp foundation of predetermined number being directed on spherical surface
Spin matrix.
Second aspect, some embodiments of the present application provide a kind of for fish-eye image splicing device, the dress
Setting includes: acquiring unit, be configured to obtain the shooting of the first fish eye lens the first image and the shooting of the second fish eye lens the
Two images, the second fish-eye shooting area exists with the first fish-eye shooting area to partly overlap；Unit, quilt is unfolded
It is configured to according to mapping matrix expansion the first image and second pre-established for the first fish eye lens and the second fish eye lens
Image obtains the first unfolded image and the second unfolded image；Rotary unit is configured to according to for the first fish eye lens and the
The spin matrix that two fish eye lenses pre-establish rotates the second unfolded image；Concatenation unit is configured to splice first
Unfolded image and postrotational second unfolded image.
In some embodiments, device further include: correction unit, be configured to the first image and/or the second image into
Row color correction.
In some embodiments, correct unit, including conversion subunit, be configured to by the first image and the second image from
Red, green, blue color space conversion is to tone, saturation degree, lightness color space；Subelement is counted, is configured to count respectively
In the overlapping region of first image and the second image, the saturation degree and/or lightness of the first image and the second image；Adjustment is single
Member, be configured to be adjusted according to the saturation degree that counts and/or lightness in the first image and the second image the saturation degree of pixel and/
Or lightness.
In some embodiments, subelement is adjusted, is further configured to: determining the first image and second in the first image
In the sum of the saturation degree of pixel in the overlapping region of image, with the overlapping region of the first image and the second image in the second image
The sum of the saturation degree of pixel ratio；The saturation degree of pixel in second image is adjusted to the ratio of the sum of identified saturation degree
Value times；And/or the sum of lightness of pixel in determining first image in the overlapping region of the first image and the second image, with second
The ratio of the sum of the lightness of pixel in image in the overlapping region of the first image and the second image；By pixel in the second image
Lightness is adjusted to the ratio times of the sum of identified lightness.
In some embodiments, concatenation unit, comprising: first determines subelement, is configured to the side by Dynamic Programming
Method determines the suture of the first unfolded image and postrotational second unfolded image；First splicing subelement, is configured to the
The overlapping region of one unfolded image and postrotational second unfolded image carries out multi-resolution Fusion, obtains the first stitching image；
Second splicing subelement, is configured to for the image of suture two sides being weighted splicing with the first stitching image respectively, and first
The weight of the pixel of stitching image is successively decreased from the near to the remote according to the distance of pixel to suture.
In some embodiments, device further includes that the first matrix establishes unit, and the first matrix establishes unit, comprising: first
Subelement is obtained, is configured to obtain the second of the first history image that the first fish eye lens is shot and the shooting of the second fish eye lens
History image；Subelement is set, is configured to that equally spaced warp is arranged in spherical surface according to the pixel number of pre-set expanded view
Line and weft；Subelement is mapped, is configured to be reflected the pixel in the first history image according to the first fish-eye visual angle
It is mapped to set warp and weft and is formed by intersection point, and will be in the second history image according to the second fish-eye visual angle
Pixel is mapped to set warp and weft and is formed by intersection point；First establishes subelement, is configured to go through according to first
The coordinate of the coordinate of pixel in history image and the intersection point being mapped in expanded view is established fish-eye to be reflected for first
Matrix is penetrated, and needle is established according to the coordinate of the coordinate of the pixel in the second history image and the intersection point being mapped in expanded view
To the second fish-eye mapping matrix.
In some embodiments, device further includes that the second matrix establishes unit, and the second matrix establishes unit, comprising: second
Subelement is obtained, is configured to obtain the 4th of the third history image that the first fish eye lens is shot and the shooting of the second fish eye lens
History image, third history image and the shooting of the 4th history image are in the same period；First expansion subelement, is configured to open up
Third history image and the 4th history image are opened, third unfolded image and the 4th unfolded image are obtained；Second determines subelement, quilt
It is configured to determine the overlapping region in third unfolded image and the 4th unfolded image；Third determines subelement, is configured to
Overlapping region in three unfolded images and the 4th unfolded image determines matched characteristic point；First computation subunit, is configured to
Identified characteristic point is mapped on spherical surface and calculates deviation angle of the 4th history image relative to third history image；Second
Subelement is established, is configured to establish spin matrix according to deviation angle.
In some embodiments, third determines subelement, is further configured to: by sliding window in third unfolded image and
Overlapping region in 4th unfolded image determines matched characteristic point.
In some embodiments, the first fish eye lens is placed in opposite directions with the second fish eye lens, the first fish eye lens and second
Fish-eye visual angle is greater than 180 °.
In some embodiments, device further includes that third matrix establishes unit, and third matrix establishes unit, comprising: third
Subelement is obtained, is configured to obtain the 6th of the 5th history image that the first fish eye lens is shot and the shooting of the second fish eye lens
History image, the 5th history image and the shooting of the 6th history image are in the same period；Second expansion subelement, is configured to open up
The 5th history image and the 6th history image are opened, the 5th unfolded image and the 6th unfolded image are obtained；4th determines subelement, quilt
It is configured to determine third unfolded image and the first overlapping region and the second overlapping region in the 4th unfolded image；5th determines son
Unit is configured to determine matched characteristic point in the first overlapping region and the second overlapping region；Second computation subunit is matched
It is set to for the characteristic point of identified first overlapping region to be mapped on spherical surface and calculates the 6th history image relative to the 5th history
First deviation angle of image, and the characteristic point of identified second overlapping region is mapped to the 6th history figure of calculating on spherical surface
As the second deviation angle relative to the 5th history image；Third establishes subelement, be configured to according to the first deviation angle and
Second deviation angle establishes spin matrix.
In some embodiments, third establishes subelement, is further configured to: establishing first according to the first deviation angle
Spin matrix, and the second spin matrix is established according to the second deviation angle；Weft on globally is to the first spin matrix and
Two spin matrixs carry out smooth operation, obtain the spin matrix of predetermined number established for the warp on spherical surface.
The third aspect, some embodiments of the present application provide a kind of equipment, comprising: one or more processors；Storage
Device is stored thereon with one or more programs, when said one or multiple programs are executed by said one or multiple processors,
So that said one or multiple processors realize such as the above-mentioned method of first aspect.
Fourth aspect, some embodiments of the present application provide a kind of computer-readable medium, are stored thereon with computer
Program realizes such as first aspect above-mentioned method when the program is executed by processor.
It is provided by the embodiments of the present application to be used for fish-eye image split-joint method and device, by obtaining the first flake mirror
First image of head shooting and the second image of the second fish eye lens shooting, then according to for the first fish eye lens and the second fish
The first image and the second image is unfolded in the mapping matrix that glasses head pre-establishes, and obtains the first unfolded image and the second expanded view
Picture, and the second unfolded image is revolved according to for the spin matrix that the first fish eye lens and the second fish eye lens pre-establish
Turn, finally splice the first unfolded image and postrotational second unfolded image, improves the image that splicing fish eye lens takes
Efficiency.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is that some of the application can be applied to exemplary system architecture figure therein；
Fig. 2 is the flow chart according to one embodiment for fish-eye image split-joint method of the application；
Fig. 3 is single spheric coordinate system in one embodiment for fish-eye image split-joint method according to the application
Schematic diagram；
Fig. 4 is the flow chart according to another embodiment for fish-eye image split-joint method of the application；
Fig. 5 is the structural schematic diagram according to one embodiment for fish-eye image splicing device of the application；
Fig. 6 is adapted for showing for the structure of the computer system of the server or terminal of realizing some embodiments of the present application
It is intended to.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is shown can be using the application for fish-eye image split-joint method or for fish-eye figure
As the exemplary system architecture 100 of the embodiment of splicing apparatus.
As shown in Figure 1, system architecture 100 may include fish eye lens 101,102, network 103, terminal device 104,105
With server 106.Network 103 is logical to provide between fish eye lens 101,102, terminal device 104,105 and server 106
Believe the medium of link.Network 103 may include various connection types, such as wired, wireless communication link or fiber optic cables etc.
Deng.
The image that fish eye lens 101,102 is shot can be spliced by local processor, can also be transmitted to terminal and be set
Standby 104,105 are spliced, and can also be directly transferred to server 106 or are transmitted to server by terminal device 104,105
106, spliced by server 106.Various client applications can be installed on terminal device 104,105, such as image is adopted
Collect class application, image processing class application, the application of video monitoring class, searching class application etc..
Terminal device 104,105 can be hardware, be also possible to software.It, can be with when terminal device 104,105 is hardware
It is the various electronic equipments with display screen, including but not limited to smart phone, tablet computer, pocket computer on knee and platform
Formula computer etc..When terminal device 104,105 is software, may be mounted in above-mentioned cited electronic equipment.It can
To be implemented as multiple softwares or software module, single software or software module also may be implemented into.It is not specifically limited herein.
Server 106 can be to provide the server of various services, such as to fish eye lens 101,102 or terminal device
104, the application installed on 105 provides the background server supported, and the of the shooting of available first fish eye lens of server 106
Second image of one image and the shooting of the second fish eye lens, the second fish-eye shooting area and the first fish-eye shooting
Region, which exists, to partly overlap；According to the mapping matrix expansion first pre-established for the first fish eye lens and the second fish eye lens
Image and the second image, obtain the first unfolded image and the second unfolded image；According to for the first fish eye lens and the second flake
The spin matrix that camera lens pre-establishes rotates the second unfolded image；Splice the first unfolded image and postrotational second exhibition
Open image.
It should be noted that can be by flake for fish-eye image split-joint method provided by the embodiment of the present application
The local processor of camera lens 101,102 executes, and can also be executed by terminal device 104,105 or server 106, correspondingly, uses
Can be set in the local processor of fish eye lens 101,102 in fish-eye image splicing device, also can be set in
In terminal device 104,105 or server 106.
It should be noted that server can be hardware, it is also possible to software.When server is hardware, may be implemented
At the distributed server cluster that multiple servers form, individual server also may be implemented into.It, can when server is software
To be implemented as multiple softwares or software module (such as providing Distributed Services), single software or software also may be implemented into
Module.It is not specifically limited herein.
It should be understood that the number of fish eye lens, terminal device, network and server in Fig. 1 is only schematical.Root
It factually now needs, can have any number of fish eye lens, terminal device, network and server.
With continued reference to Fig. 2, one embodiment for fish-eye image split-joint method according to the application is shown
Process 200.This is used for fish-eye image split-joint method, comprising the following steps:
Step 201, the first image of the first fish eye lens shooting and the second image of the second fish eye lens shooting are obtained.
In the present embodiment, for fish-eye image split-joint method executing subject (such as server shown in FIG. 1 or
Terminal) the first image of the first fish eye lens shooting and the second image of the second fish eye lens shooting can be obtained first.First
Fish eye lens and the second fish eye lens different fish eye lenses that can be shooting angle different, the first fish eye lens and the second flake
Camera lens is also possible to the different same fish eye lens of shooting angle, for example, the first fish eye lens rotates after having shot the first image
It is re-used as the second fish eye lens after certain angle and shoots the second image.To guarantee splicing effect, the first fish eye lens and the second fish
The specification of glasses head can be identical.There is part weight in the second fish-eye shooting area and the first fish-eye shooting area
It is folded, the splicing of image can be carried out by the region of overlapping.
Step 202, according to the mapping matrix expansion first pre-established for the first fish eye lens and the second fish eye lens
Image and the second image, obtain the first unfolded image and the second unfolded image.
In the present embodiment, above-mentioned executing subject can be built in advance according to for the first fish eye lens and the second fish eye lens
The first image and the second image obtained in vertical mapping matrix deployment step 201 obtains the first unfolded image and the second expansion
Image.The cost that fish eye lens can shoot super large ken scene is serious deformation, wherein most importantly barrel distortion, institute
With original fish eye images can not direct splicing, need that the image that fish eye lens takes is unfolded.Sphere Measurement Model
Or bucket surface model can be used for describing the imaging model of flake, it is possible to which original fish eye images are mapped to a three-dimensional list
It is unfolded on the ball of position or on bucket face.In addition, being unfolded according to available first unfolded image of mapping relations of pixel and second
The overlapping region of image.
In the case where the first fish eye lens and fixed the second fish eye lens specification, for the first fish eye lens and the second fish
Fixed mapping matrix can be used in the image of glasses head shooting.Mapping matrix can be based on this shooting the first image and
Second image is established, and can also be established based on the first fish eye lens and the second fish eye lens history acquired image.Using pre-
The mapping matrix first established can reduce calculation amount, improve efficiency.
As an example, the image taken can be mapped to spherical surface according to fish eye lens visual angle size when being unfolded,
And rectangular image is launched by longitude and latitude method.For example, the fish eye lens that visual angle is 180 °, it is half that the image taken, which is mapped to spherical surface,
Ball, visual angle are more than 180 ° of fish eye lens, and the part more than 180 ° can map hemisphere according to angular dimension in proportion.
In some optional implementations of the present embodiment, mapping matrix includes the matrix established via following steps: being obtained
Second history image of the first history image for taking the first fish eye lens to shoot and the shooting of the second fish eye lens；According to presetting
The pixel number of expanded view in spherical surface, equally spaced warp and weft are set；According to the first fish-eye visual angle by the first history
Pixel in image is mapped to set warp and weft and is formed by intersection point, and will according to the second fish-eye visual angle
Pixel in second history image is mapped to set warp and weft and is formed by intersection point；According in the first history image
The coordinate of pixel establish with the coordinate of the intersection point that is mapped in expanded view for the first fish-eye mapping matrix, and
It is established according to the coordinate of the coordinate of the pixel in the second history image and the intersection point being mapped in expanded view for the second fish
The mapping matrix of glasses head.
In this implementation, according to the pixel number of pre-set expanded view, it can be used by the way of back mapping
Pixel on spherical surface is mapped in expanded view by longitude and latitude method one by one, i.e., final expanded view needs how many a pixels, Ke Yi
The pixel of identical quantity is selected on spherical surface, then takes a little from the image that fish eye lens is shot, filling ball can be reduced with this
The computation complexity of blank spot on face.
It, can be with as shown in figure 3, the quantity of the pixel of pre-set expanded view is h × w in single spheric coordinate system
Using the positive direction of x-axis as the starting point of longitude, equally spaced w warp is established from-π to+π.It is also possible to establish h item from-π/
2 to+pi/2 weft, with this available h × w intersection point.For example, for longitude on spherical surface be α latitude be β a bit, can be with
Its three-dimensional coordinate (x, y, z) is calculated by following equation:
X=cos α × cos β
Y=sin β
Z=sin α × cos β；
Each intersection point can be mapped to a bit on fish eye images.The ken of camera is indicated with f, and assumes camera
The ken is uniform.For that a bit (x, y, z), the deviation angle list of it and x-axis can be calculated by following equation on spherical surface
Spheric coordinate system θ:
θ=arccosx；
The scale factor φ of original image distance center can be obtained by following equation:
Wherein, r indicates the radius of fish eye images.It may finally obtain corresponding point on the original image are as follows: (z × φ,
y×φ)；Wherein, it will be assumed that the coordinate of central point is (0,0).With this, any point on spherical surface can be mapped to original fish
On eye image, when expansion, the point of identical warp is located at same row in expanded view on spherical surface, and the point of identical weft is in expanded view
Positioned at same a line, pixel all on spherical surface is tiled in order in the plane.
In some optional implementations of the present embodiment, according to preparatory for the first fish eye lens and the second fish eye lens
Before first image and the second image are mapped to spherical surface and are expanded to panorama sketch by the mapping matrix of foundation, method further include: right
First image and/or the second image carry out color correction.Color correction can improve double fish-eye color differences, make splice region
Domain seems more continuous
In some optional implementations of the present embodiment, color correction, packet are carried out to the first image and/or the second image
It includes: by the first image and the second image from red, green, blue color space conversion to tone, saturation degree, lightness color space；Respectively
Statistics is in the overlapping region of the first image and the second image, the saturation degree and/or lightness of the first image and the second image；According to
The saturation degree and/or lightness counted adjusts the saturation degree and/or lightness of pixel in the first image and the second image.To original fish
Eye image carries out color correction in (Hue, Saturation, Value, tone, saturation degree, the lightness) channel HSV.It can be with color sky
Between transformation rgb space is transformed into hsv color space, count two fish eye images channel Ss and the channel V in overlapping region respectively
Value, and then adjustable wherein piece image or adjust two images simultaneously and both make to reach flat in channel S and the channel V
Weighing apparatus visually improves the case where color jumps.
In some optional implementations of the present embodiment, the first figure is adjusted according to the saturation degree and/or lightness counted
The saturation degree and/or lightness of pixel in picture and the second image, comprising: determine the weight of the first image and the second image in the first image
The sum of the saturation degree of pixel in folded region, with the pixel in the overlapping region of the first image and the second image in the second image
The ratio of the sum of saturation degree；The saturation degree of pixel in second image is adjusted to the ratio times of the sum of identified saturation degree；With/
Or determine the sum of lightness of pixel in the first image in the overlapping region of the first image and the second image, in the second image the
The ratio of the sum of the lightness of pixel in the overlapping region of one image and the second image；By the lightness adjustment of pixel in the second image
For the ratio times of the sum of identified lightness.
Color correction determines that the pixel in overlapping region is approximately that same scene is regarding by the difference of pixel in overlapping region
It is shot under conditions of angular difference very little, so having very strong reference significance.For two images, it will be assumed that overlapping region
For A, then two images to be spliced centainly have the pixel of identical quantity in A.Generally, this two images is in overlay region
The content of the same scene shot in domain, so we can measure the difference of color with the statistical information in the region.As
Image can be transformed into the channel HSV from RGB channel by example, and the pixel for counting the channel S and V respectively it is cumulative and, with channel S
For, it is assumed that the first image cumulative and be SUM1, the second image cumulative and be SUM2, so ratio r is SUM1/SUM2, right
All pixels in second image are multiplied by ratio r, so that it may adjust the channel S of the second image to consistent with the first image.This
Implementation completes color correction in a simple manner, and which ultrahigh in efficiency, computation complexity is low, and effect is aobvious
It writes.
Step 203, it is opened up according to the spin matrix pre-established for the first fish eye lens and the second fish eye lens to second
Image is opened to be rotated.
In the present embodiment, above-mentioned executing subject can be built in advance according to for the first fish eye lens and the second fish eye lens
Vertical spin matrix rotates the second unfolded image obtained in step 202.Image is after expansion, it is known that overlapping
The position in region.Before final splicing, registration process can be carried out, the approximate location of identical object in overlapping region is made
It is identical.In the case where the first fish eye lens and the second fish eye lens specification, shooting angle are fixed, for the first fish eye lens and
Fixed spin matrix can be used in the image of second fish eye lens shooting.Spin matrix can be first based on this shooting
Image and the second image are established, and can also be established based on the first fish eye lens and the second fish eye lens history acquired image.
Calculation amount can be reduced using the spin matrix pre-established, improved efficiency.
In some optional implementations of the present embodiment, spin matrix includes the matrix established via following steps: being obtained
4th history image of the third history image for taking the first fish eye lens to shoot and the shooting of the second fish eye lens, third history image
It is shot with the 4th history image in the same period；Third history image and the 4th history image is unfolded, obtains third expanded view
Picture and the 4th unfolded image；Determine the overlapping region in third unfolded image and the 4th unfolded image；In third unfolded image and
Overlapping region in 4th unfolded image determines matched characteristic point；Identified characteristic point is mapped on spherical surface and calculates the 4th
Deviation angle of the history image relative to third history image；Spin matrix is established according to deviation angle.The same period when
Between length can be according to being actually configured, if there is dynamic object in shooting picture, the same period should be short as far as possible, most
It is the image of same time shooting well, in order to carry out the matching of key point.The matching process of characteristic point is including but not limited to ruler
It spends invariant features transformation (Scale-invariant feature transform, SIFT), accelerate robust feature (Speed Up
Robust Features, SURF), characteristic point rapidly extracting (the Oriented FAST and with local invariant
Rotated BRIEF, ORB) etc..For guaranteed efficiency, such as ORB can be used in video-splicing.Further, it is also possible to use
RANSAC algorithm (Random Sample Consensus, RANSCA) selection matches correctly some characteristic points.
Overlay region in some optional implementations of the present embodiment, in third unfolded image and the 4th unfolded image
Domain determines matched characteristic point, comprising: is determined by overlapping region of the sliding window in third unfolded image and the 4th unfolded image
Matched characteristic point.Since overlapping region is generally more narrow, in overlapping region, can use sliding window matching characteristic point, with into
The matching of row efficient feature point.A part of overlapping region, such as a strip can be taken, finds feature in the strip
Matched accuracy can be improved by sliding window matching in the area in point.After obtaining matching double points, it can use matched
Point pair, revert to spherical surface or bucket surface model, calculates the angle offset mean value for the point pair that certain is matched on one side, is calculated wherein one
The Space Angle angle value that width image is needed by rotation and another width image alignment, and thus calculate spin matrix.
In some optional implementations of the present embodiment, the first fish eye lens is placed in opposite directions with the second fish eye lens, the
One fish eye lens and the second fish-eye visual angle are greater than 180 °.First fish eye lens and the second fish eye lens can shoot 360 ×
180 panorama sketch, but it not only has the defects of serious deformation, pixel of imaging is uneven, lens edge brightness is weak, it is heavy
Folded region is also typically small, and common image split-joint method is difficult to directly be applicable in.But double fisheye cameras can greatly simplify structure
The physical model of panoramic picture is built, it is convenient hand-held, it does not need to repeat to shoot.Also there is very wide answer for the splicing of video content
With prospect, such as panorama live streaming, safety monitoring.
Herein, the first fish eye lens is placed in opposite directions with the second fish eye lens can be understood as that two camera lenses are back-to-back to be put
It sets, the first fish eye lens and the second fish-eye visual angle are greater than 180 °, two overlapping regions can be formed, based on two overlappings
Region can calculate two spin matrixs, can be rotated based on one of spin matrix to the second unfolded image,
Second unfolded image can be rotated based on two spin matrixs, for example, can by two spin matrixs of average aggregate,
Also the right and left that two spin matrixs are aligned expanded view respectively can be used, it can be respectively from the both sides of fish eye images to center
Gradual change generates multiple matrixes, and the direction of gradual change is original unjustified spin matrix, and the central point in picture position reaches
Balance, can thus accomplish that both sides are aligned respectively without interacting.
In some optional implementations of the present embodiment, spin matrix includes the matrix established via following steps: being obtained
6th history image of the 5th history image for taking the first fish eye lens to shoot and the shooting of the second fish eye lens, the 5th history image
It is shot with the 6th history image in the same period；The 5th history image and the 6th history image is unfolded, obtains the 5th expanded view
Picture and the 6th unfolded image；Determine third unfolded image and the first overlapping region and the second overlay region in the 4th unfolded image
Domain；Matched characteristic point is determined in the first overlapping region and the second overlapping region；By the feature of identified first overlapping region
Point, which is mapped on spherical surface, calculates first deviation angle of the 6th history image relative to the 5th history image, and by identified the
The characteristic point of two overlapping regions, which is mapped on spherical surface, calculates second deviation angle of the 6th history image relative to the 5th history image
Degree；Spin matrix is established according to the first deviation angle and the second deviation angle.
In some optional implementations of the present embodiment, rotation is established according to the first deviation angle and the second deviation angle
Matrix, comprising: the first spin matrix is established according to the first deviation angle, and the second spin moment is established according to the second deviation angle
Battle array；Weft on globally carries out smooth operation to the first spin matrix and the second spin matrix, obtains being directed to for predetermined number
The spin matrix that warp on spherical surface is established.Two overlapping regions based on two obtained expanded views, the point in overlapping region
It should be theoretically under the same scene, it is possible to characteristic point is found in overlapping region and completes to match, and Pisces eye
The expanded view of image has both sides to need to be aligned, and two spin matrixs can be calculated, can be by it along weft to solve conflict
A smooth operation is done, a series of spin matrixs gradually converted, the pixel pair of each warp on such spherical surface are generated
As soon as answering a spin matrix, the flake expanded view that can be obtained by alignment is rotated again.
As an example, the characteristic point matched for one group is to (x1,y1) and (x2,y2), pixel difference between them is away from being
(y2-y1), it returns on spherical surface, their angle difference X can be calculated by following equation:
X=arcsin (y2-y1)；
More accurate angle difference in order to obtain, the angle that can be calculated for multiple matching double points take
Value.There is angle difference, wherein can will rotate (X, Y, Z) angle completion alignment operation on spherical surface by piece image.It is transformed into
Normalized four-tuple (a, b, c, d), spin matrix R can be calculated by following equation:
It, will necessarily however if rotation entire image, can be only done the splicing on one side, and since there are two spin matrixs
Generate conflict.In order to make it not interact, it can be assumed that wherein the original spin matrix of piece image is R ', can establish w/
Matrix (the R of 4 even variations0,R1,R2,...,Rk,...Rn), size is from R to R ', specific quantity is also possible to single flake
The half of picture traverse.It is gradient to center from edge, each column pixel has only one spin matrix, from a width fish eye images
Both sides be independent of each other to center, be all to be gradient to center to terminate, two such spin matrix becomes multiple spin moments
Battle array is working, but substantially still determined by that most marginal spin matrix.It is just complete after the image rotation for needing to rotate
At the process of alignment.
Step 204, splice the first unfolded image and postrotational second unfolded image.
In the present embodiment, above-mentioned executing subject can splice the first unfolded image and step 203 obtained in step 202
In postrotational second unfolded image.When being spliced, suture can be found first, is then directly spliced, or is passed through
Some blending algorithms, such as value-taking mean value process merge, are fade-in gradually to go out (based on distance) fusion and improved trigonometric function weight
Fusion, further increases splicing effect.First image and the second image can be the image in the collected video of fish eye lens
The joining method of frame, i.e. the present embodiment description can be used for image or video flowing, when for live video stream, can be used very fast
Feature point description promote speed, meanwhile, in order to reduce matrix operation, the matrix of needs can be precomputed.Due to
Double fish eye lens positions are fixed, and parallax usually has centainly fixed range, after delimiting precision, the graduated rotation of institute in range
Matrix calculates, and searches when needing.
The first image and second that the method provided by the above embodiment of the application is shot by obtaining the first fish eye lens
Second image of fish eye lens shooting, there are parts for the second fish-eye shooting area and the first fish-eye shooting area
Overlapping；The first image and the second figure is unfolded according to the mapping matrix pre-established for the first fish eye lens and the second fish eye lens
Picture obtains the first unfolded image and the second unfolded image；It is pre-established according to for the first fish eye lens and the second fish eye lens
Spin matrix the second unfolded image is rotated；Splice the first unfolded image and postrotational second unfolded image, improves
The efficiency for the image that splicing fish eye lens takes.
With further reference to Fig. 4, it illustrates the processes of another embodiment for fish-eye image split-joint method
400.This is used for the process 400 of fish-eye image split-joint method, comprising the following steps:
Step 401, the first image of the first fish eye lens shooting and the second image of the second fish eye lens shooting are obtained.
In the present embodiment, for fish-eye image split-joint method executing subject (such as server shown in FIG. 1 or
Terminal) can obtain first the first fish eye lens shooting the first image and the second fish eye lens shooting the second image, second
Fish-eye shooting area exists with the first fish-eye shooting area to partly overlap.
Step 402, according to the mapping matrix expansion first pre-established for the first fish eye lens and the second fish eye lens
Image and the second image, obtain the first unfolded image and the second unfolded image.
In the present embodiment, above-mentioned executing subject can be built in advance according to for the first fish eye lens and the second fish eye lens
The first image and the second image obtained in vertical mapping matrix deployment step 401 obtains the first unfolded image and the second expansion
Image.
Step 403, it is opened up according to the spin matrix pre-established for the first fish eye lens and the second fish eye lens to second
Image is opened to be rotated.
In the present embodiment, above-mentioned executing subject can be built in advance according to for the first fish eye lens and the second fish eye lens
Vertical spin matrix rotates the second unfolded image obtained in step 402.
Step 404, the seam of the first unfolded image and postrotational second unfolded image is determined by the method for Dynamic Programming
Zygonema.
In the present embodiment, above-mentioned executing subject can be determined by the method for Dynamic Programming obtained in step 402
The optimal stitching line of postrotational second unfolded image in one unfolded image and step 403.Dynamic Programming (dynamic
Programming) be operational research a branch, be to solve for decision process (decision process) optimization mathematics side
Method.
Step 405, multiresolution is carried out to the overlapping region of the first unfolded image and postrotational second unfolded image to melt
It closes, obtains the first stitching image.
In the present embodiment, above-mentioned executing subject can be in the first unfolded image and step 403 obtained in step 402
The overlapping region of postrotational second unfolded image carries out multi-resolution Fusion, obtains the first stitching image.
Step 406, the image of suture two sides is weighted splicing with the first stitching image respectively.
In the present embodiment, above-mentioned executing subject can by step 404 determine suture two sides image respectively with
First stitching image obtained in step 405 is weighted splicing, and the weight of the pixel of the first stitching image is according to pixel
Distance to suture is successively decreased from the near to the remote.If being directly weighted spelling in suture two sides after searching out optimal stitching line
It connects and is easy to produce artifact, and multi-resolution Fusion is not appropriate for fish eye images.Can to the region of one fixed width near splicing line,
Such as overlapping region carries out multi-resolution Fusion, obtains the intermediate images of a strip, then the image of the right and left is distinguished
Weighting splicing is done with this intermediate images, and then obtains final image, the method can be directly applied for fish eye images.
As an example, the final spliced point B (r, c) in left side can be calculated by following equation:
Wherein, L (r, c) indicates the pixel of r row c column in overlapping region, it is assumed that suture is S in certain point passed through
(r, c '), d indicates the distance for the point that distance S is farthest on the left of the first stitching image, and O (r, c) indicates r row c in the first stitching image
The pixel of column.On time loss, this method shortens the time of splicing due to reducing splicing regions.
In the present embodiment, step 401, step 402, the operation of step 403 and step 201, step 202, step 203
Operate essentially identical, details are not described herein.
Figure 4, it is seen that being used for fish-eye image in the present embodiment compared with the corresponding embodiment of Fig. 2
In the process 400 of joining method by overlapping region carry out multi-resolution Fusion, then based on multi-resolution Fusion result into
Row weighting splicing, further improves splicing efficiency.
With further reference to Fig. 5, as the realization to method shown in above-mentioned each figure, this application provides one kind to be used for flake mirror
One embodiment of the image splicing device of head, the Installation practice is corresponding with embodiment of the method shown in Fig. 2, device tool
Body can be applied in various electronic equipments.
As shown in figure 5, the present embodiment includes: acquiring unit 501, exhibition for fish-eye image splicing device 500
Open unit 502, rotary unit 503, concatenation unit 504.Wherein, acquiring unit is configured to obtain the shooting of the first fish eye lens
The first image and the shooting of the second fish eye lens the second image, the second fish-eye shooting area and first fish-eye
Shooting area, which exists, to partly overlap；Unit is unfolded, is configured to according to preparatory for the first fish eye lens and the second fish eye lens
The first image and the second image is unfolded in the mapping matrix of foundation, obtains the first unfolded image and the second unfolded image；Rotary unit,
Be configured to according to the spin matrix pre-established for the first fish eye lens and the second fish eye lens to the second unfolded image into
Row rotation；Concatenation unit is configured to splice the first unfolded image and postrotational second unfolded image.
In the present embodiment, for the acquiring unit 501 of fish-eye image splicing device 500, expansion unit 502,
The specific processing of rotary unit 503, concatenation unit 504 can refer to step 201, step 202, step in Fig. 2 corresponding embodiment
Rapid 203 and step 204.
In some optional implementations of the present embodiment, device further include: correction unit is configured to the first image
And/or second image carry out color correction.
In some optional implementations of the present embodiment, unit, including conversion subunit are corrected, is configured to first
Image and the second image are from red, green, blue color space conversion to tone, saturation degree, lightness color space；Count subelement, quilt
Be configured to count respectively in the overlapping region of the first image and the second image, the saturation degree of the first image and the second image and/
Or lightness；Subelement is adjusted, is configured to be adjusted in the first image and the second image according to the saturation degree and/or lightness that count
The saturation degree and/or lightness of pixel.
In some optional implementations of the present embodiment, subelement is adjusted, is further configured to: determining the first image
In the sum of the saturation degree of pixel in the overlapping region of the first image and the second image, with the first image and second in the second image
The ratio of the sum of the saturation degree of pixel in the overlapping region of image；The saturation degree of pixel in second image is adjusted to determine
The sum of saturation degree ratio times；And/or the pixel in determining first image in the overlapping region of the first image and the second image
The sum of lightness, the ratio with the sum of the lightness of pixel in the overlapping region of the first image and the second image in the second image；
The lightness of pixel in second image is adjusted to the ratio times of the sum of identified lightness.
In some optional implementations of the present embodiment, concatenation unit, comprising: first determines subelement, is configured to
The suture of the first unfolded image and postrotational second unfolded image is determined by the method for Dynamic Programming；First splicing is single
Member is configured to carry out multi-resolution Fusion to the overlapping region of the first unfolded image and postrotational second unfolded image, obtain
To the first stitching image；Second splicing subelement, be configured to by the image of suture two sides respectively with the first stitching image into
Row weighting splicing, the weight of the pixel of the first stitching image are successively decreased from the near to the remote according to the distance of pixel to suture.
In some optional implementations of the present embodiment, device further includes that the first matrix establishes unit, and the first matrix is built
Vertical unit, comprising: first obtains subelement, is configured to obtain the first history image and the second fish of the shooting of the first fish eye lens
Second history image of glasses head shooting；Subelement is set, is configured to the pixel number according to pre-set expanded view in ball
Equally spaced warp and weft are arranged in face；Subelement is mapped, is configured to the first history according to the first fish-eye visual angle
Pixel in image is mapped to set warp and weft and is formed by intersection point, and will according to the second fish-eye visual angle
Pixel in second history image is mapped to set warp and weft and is formed by intersection point；First establishes subelement, quilt
It is configured to be directed to according to the coordinate of the pixel in the first history image and the coordinate foundation of the intersection point that is mapped in expanded view
First fish-eye mapping matrix, and be unfolded according to the coordinate of the pixel in the second history image with the intersection point being mapped to
Coordinate in figure, which is established, is directed to the second fish-eye mapping matrix.
In some optional implementations of the present embodiment, device further includes that the second matrix establishes unit, and the second matrix is built
Vertical unit, comprising: second obtains subelement, is configured to obtain third history image and the second fish of the shooting of the first fish eye lens
4th history image of glasses head shooting, third history image and the shooting of the 4th history image are in the same period；First expansion
Subelement is configured to be unfolded third history image and the 4th history image, obtains third unfolded image and the 4th unfolded image；
Second determines subelement, is configured to determine the overlapping region in third unfolded image and the 4th unfolded image；Third determines son
Unit, the overlapping region being configured in third unfolded image and the 4th unfolded image determine matched characteristic point；First meter
Operator unit is configured to for identified characteristic point being mapped on spherical surface and calculates the 4th history image relative to third history figure
The deviation angle of picture；Second establishes subelement, is configured to establish spin matrix according to deviation angle.
In some optional implementations of the present embodiment, third determines subelement, is further configured to: passing through sliding window
Overlapping region in third unfolded image and the 4th unfolded image determines matched characteristic point.
In some optional implementations of the present embodiment, the first fish eye lens is placed in opposite directions with the second fish eye lens, the
One fish eye lens and the second fish-eye visual angle are greater than 180 °.
In some optional implementations of the present embodiment, device further includes that third matrix establishes unit, and third matrix is built
Vertical unit, comprising: third obtains subelement, is configured to obtain the 5th history image and the second fish of the shooting of the first fish eye lens
6th history image of glasses head shooting, the 5th history image and the shooting of the 6th history image are in the same period；Second expansion
Subelement is configured to be unfolded the 5th history image and the 6th history image, obtains the 5th unfolded image and the 6th unfolded image；
4th determines subelement, is configured to determine third unfolded image and the first overlapping region and the second weight in the 4th unfolded image
Folded region；5th determines subelement, is configured to determine matched characteristic point in the first overlapping region and the second overlapping region；The
Two computation subunits are configured to for the characteristic point of identified first overlapping region being mapped to the 6th history figure of calculating on spherical surface
As the first deviation angle relative to the 5th history image, and the characteristic point of identified second overlapping region is mapped to spherical surface
Upper the second deviation angle for calculating the 6th history image relative to the 5th history image；Third establishes subelement, is configured to root
Spin matrix is established according to the first deviation angle and the second deviation angle.
In some optional implementations of the present embodiment, third establishes subelement, is further configured to: according to first
Deviation angle establishes the first spin matrix, and establishes the second spin matrix according to the second deviation angle；Weft pair on globally
First spin matrix and the second spin matrix carry out smooth operation, obtain the rotation of predetermined number established for the warp on spherical surface
Torque battle array.
The device provided by the above embodiment of the application, by the first image and second for obtaining the shooting of the first fish eye lens
Second image of fish eye lens shooting, there are parts for the second fish-eye shooting area and the first fish-eye shooting area
Overlapping；The first image and the second figure is unfolded according to the mapping matrix pre-established for the first fish eye lens and the second fish eye lens
Picture obtains the first unfolded image and the second unfolded image；It is pre-established according to for the first fish eye lens and the second fish eye lens
Spin matrix the second unfolded image is rotated；Splice the first unfolded image and postrotational second unfolded image, improves
The efficiency for the image that splicing fish eye lens takes.
Below with reference to Fig. 6, it illustrates the server for being suitable for being used to realize the embodiment of the present application or the departments of computer science of terminal
The structural schematic diagram of system 600.Server or terminal shown in Fig. 6 are only an example, should not be to the function of the embodiment of the present application
Any restrictions can be brought with use scope.
As shown in fig. 6, computer system 600 includes central processing unit (CPU) 601, it can be read-only according to being stored in
Program in memory (ROM) 602 or be loaded into the program in random access storage device (RAM) 603 from storage section 608 and
Execute various movements appropriate and processing.In RAM 603, also it is stored with system 600 and operates required various programs and data.
CPU 601, ROM 602 and RAM 603 are connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to always
Line 604.
It can connect with lower component to I/O interface 605: the importation 606 including keyboard, mouse etc.；Including all
The output par, c 607 of such as cathode-ray tube (CRT), liquid crystal display (LCD) and loudspeaker etc.；Storage including hard disk etc.
Part 608；And the communications portion 609 of the network interface card including LAN card, modem etc..Communications portion 609 passes through
Communication process is executed by the network of such as internet.Driver 610 is also connected to I/O interface 605 as needed.Detachable media
611, such as disk, CD, magneto-optic disk, semiconductor memory etc., are mounted on as needed on driver 610, in order to from
The computer program read thereon is mounted into storage section 608 as needed.
Particularly, in accordance with an embodiment of the present disclosure, it may be implemented as computer above with reference to the process of flow chart description
Software program.For example, embodiment of the disclosure includes a kind of computer program product comprising be carried on computer-readable medium
On computer program, which includes the program code for method shown in execution flow chart.In such reality
It applies in example, which can be downloaded and installed from network by communications portion 609, and/or from detachable media
611 are mounted.When the computer program is executed by central processing unit (CPU) 601, limited in execution the present processes
Above-mentioned function.It should be noted that computer-readable medium described herein can be computer-readable signal media or
Computer-readable medium either the two any combination.Computer-readable medium for example can be --- but it is unlimited
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any above combination.It calculates
The more specific example of machine readable medium can include but is not limited to: electrical connection, portable meter with one or more conducting wires
Calculation machine disk, hard disk, random access storage device (RAM), read-only memory (ROM), erasable programmable read only memory
(EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device or
The above-mentioned any appropriate combination of person.In this application, computer-readable medium, which can be, any includes or storage program has
Shape medium, the program can be commanded execution system, device or device use or in connection.And in the application
In, computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal, wherein
Carry computer-readable program code.The data-signal of this propagation can take various forms, including but not limited to electric
Magnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be computer-readable Jie
Any computer-readable medium other than matter, the computer-readable medium can be sent, propagated or transmitted for being held by instruction
Row system, device or device use or program in connection.The program code for including on computer-readable medium
It can transmit with any suitable medium, including but not limited to: wireless, electric wire, optical cable, RF etc. or above-mentioned any conjunction
Suitable combination.
The calculating of the operation for executing the application can be write with one or more programming languages or combinations thereof
Machine program code, described program design language include object oriented program language-such as Java, Smalltalk, C+
+, it further include conventional procedural programming language-such as C language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Flow chart and block diagram in attached drawing are illustrated according to the system of the various embodiments of the application, method and computer journey
The architecture, function and operation in the cards of sequence product.In this regard, each box in flowchart or block diagram can generation
A part of one module, program segment or code of table, a part of the module, program segment or code include one or more use
The executable instruction of the logic function as defined in realizing.It should also be noted that in some implementations as replacements, being marked in box
The function of note can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are actually
It can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it to infuse
Meaning, the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart can be with holding
The dedicated hardware based system of functions or operations as defined in row is realized, or can use specialized hardware and computer instruction
Combination realize.
Being described in unit involved in the embodiment of the present application can be realized by way of software, can also be by hard
The mode of part is realized.Described unit also can be set in the processor, for example, can be described as: a kind of processor packet
Include acquiring unit, expansion unit, rotary unit, concatenation unit.Wherein, the title of these units is not constituted under certain conditions
Restriction to the unit itself, for example, acquiring unit is also described as " being configured to obtain the shooting of the first fish eye lens
The unit of first image and the second image of the second fish eye lens shooting ".
As on the other hand, present invention also provides a kind of computer-readable medium, which be can be
Included in device described in above-described embodiment；It is also possible to individualism, and without in the supplying device.Above-mentioned calculating
Machine readable medium carries one or more program, when said one or multiple programs are executed by the device, so that should
Device: the first image of the first fish eye lens shooting and the second image of the second fish eye lens shooting, the second fish eye lens are obtained
Shooting area exist with the first fish-eye shooting area and partly overlap；According to for the first fish eye lens and the second flake
The first image and the second image is unfolded in the mapping matrix that camera lens pre-establishes, and obtains the first unfolded image and the second unfolded image；
The second unfolded image is rotated according to for the spin matrix that the first fish eye lens and the second fish eye lens pre-establish；It spells
Connect the first unfolded image and postrotational second unfolded image.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (24)
1. one kind is used for fish-eye image split-joint method, comprising:
Obtain the first image of the first fish eye lens shooting and the second image of the second fish eye lens shooting, the second flake mirror
The shooting area of head exists with the described first fish-eye shooting area to partly overlap；
According to the mapping matrix expansion described first pre-established for first fish eye lens and second fish eye lens
Image and second image, obtain the first unfolded image and the second unfolded image；
According to the spin matrix pre-established for first fish eye lens and second fish eye lens to second exhibition
Image is opened to be rotated；
Splice first unfolded image and postrotational second unfolded image.
2. according to the method described in claim 1, wherein, the basis is directed to first fish eye lens and second flake
The mapping matrix that camera lens pre-establishes the first image and second image are mapped to spherical surface and be expanded to panorama sketch it
Before, the method also includes:
Color correction is carried out to the first image and/or second image.
It is described to the first image and/or second image carries out face 3. according to the method described in claim 2, wherein
Color correction, comprising:
By the first image and second image from red, green, blue color space conversion to tone, saturation degree, lightness color
Space；
It is counted in the overlapping region of the first image and second image respectively, the first image and second figure
The saturation degree and/or lightness of picture；
According to the saturation degree of pixel in saturation degree and/or lightness the adjustment the first image counted and second image
And/or lightness.
4. according to the method described in claim 3, wherein, saturation degree and/or the lightness adjustment that the basis counts described the
The saturation degree and/or lightness of pixel in one image and second image, comprising:
Determine the pixel in the overlapping region of the first image described in the first image and second image saturation degree it
With with the sum of the saturation degree of pixel in the overlapping region of the first image described in second image and second image
Ratio；
The saturation degree of pixel in second image is adjusted to the ratio times of the sum of identified saturation degree；And/or
Determine the sum of the lightness of pixel in the overlapping region of the first image described in the first image and second image,
With the ratio of the sum of the lightness of pixel in the overlapping region of the first image described in second image and second image；
The lightness of pixel in second image is adjusted to the ratio times of the sum of identified lightness.
5. according to the method described in claim 1, wherein, first unfolded image and postrotational second that splices is unfolded
Image, comprising:
The suture of first unfolded image and postrotational second unfolded image is determined by the method for Dynamic Programming；
Multi-resolution Fusion is carried out to the overlapping region of first unfolded image and postrotational second unfolded image, obtains the
One stitching image；
The image of the suture two sides is weighted splicing, first stitching image with first stitching image respectively
The weight of pixel successively decrease from the near to the remote according to the distance of pixel to suture.
6. according to the method described in claim 1, wherein, the mapping matrix includes the matrix established via following steps:
Obtain the first history image of the first fish eye lens shooting and the second history image of the second fish eye lens shooting；
Equally spaced warp and weft are set in spherical surface according to the pixel number of pre-set expanded view；
The pixel in first history image is mapped to set warp according to the described first fish-eye visual angle
It is formed by intersection point with weft, and is reflected the pixel in second history image according to the described second fish-eye visual angle
It is mapped to set warp and weft and is formed by intersection point；
Needle is established according to the coordinate of the coordinate of the pixel in first history image and the intersection point being mapped in expanded view
To the described first fish-eye mapping matrix, and according to the coordinate of the pixel in second history image be mapped to
Coordinate of the intersection point in expanded view, which is established, is directed to the described second fish-eye mapping matrix.
7. according to the method described in claim 1, wherein, the spin matrix includes the matrix established via following steps:
Obtain the third history image of the first fish eye lens shooting and the 4th history image of the second fish eye lens shooting, described the
Three history images and the 4th history image shooting are in the same period；
The third history image and the 4th history image is unfolded, obtains third unfolded image and the 4th unfolded image；
Determine the overlapping region in the third unfolded image and the 4th unfolded image；
Overlapping region in the third unfolded image and the 4th unfolded image determines matched characteristic point；
Identified characteristic point is mapped to and calculates the 4th history image on spherical surface relative to the third history image
Deviation angle；
Spin matrix is established according to the deviation angle.
8. described in the third unfolded image and the 4th unfolded image according to the method described in claim 7, wherein
Overlapping region determine matched characteristic point, comprising:
Matched characteristic point is determined by overlapping region of the sliding window in the third unfolded image and the 4th unfolded image.
9. method according to claim 1 to 8, wherein first fish eye lens and the second flake mirror
Head is opposite to be placed, and first fish eye lens and the described second fish-eye visual angle are greater than 180 °.
10. according to the method described in claim 9, wherein, the spin matrix includes the matrix established via following steps:
Obtain the 5th history image of the first fish eye lens shooting and the 6th history image of the second fish eye lens shooting, described the
Five history images and the 6th history image shooting are in the same period；
The 5th history image and the 6th history image is unfolded, obtains the 5th unfolded image and the 6th unfolded image；
Determine the first overlapping region and the second overlapping region in the third unfolded image and the 4th unfolded image；
Matched characteristic point is determined in first overlapping region and second overlapping region；
The characteristic point of identified first overlapping region is mapped on spherical surface calculate the 6th history image relative to
First deviation angle of the 5th history image, and the characteristic point of identified second overlapping region is mapped to spherical surface
Upper the second deviation angle for calculating the 6th history image relative to the 5th history image；
Spin matrix is established according to first deviation angle and second deviation angle.
11. described according to first deviation angle and second deviation angle according to the method described in claim 10, wherein
Degree establishes spin matrix, comprising:
The first spin matrix is established according to first deviation angle, and the second spin moment is established according to second deviation angle
Battle array；
Weft on globally carries out smooth operation to first spin matrix and second spin matrix, obtains predetermined number
The spin matrix that purpose is established for the warp on spherical surface.
12. one kind is used for fish-eye image splicing device, comprising:
Acquiring unit is configured to obtain the first image of the first fish eye lens shooting and the second figure of the second fish eye lens shooting
Picture, the second fish-eye shooting area exists with the described first fish-eye shooting area to partly overlap；
Unit is unfolded, is configured to according to the mapping pre-established for first fish eye lens and second fish eye lens
The first image and second image is unfolded in matrix, obtains the first unfolded image and the second unfolded image；
Rotary unit is configured to according to the rotation pre-established for first fish eye lens and second fish eye lens
Matrix rotates second unfolded image；
Concatenation unit is configured to splice first unfolded image and postrotational second unfolded image.
13. device according to claim 12, wherein described device further include:
Unit is corrected, is configured to carry out color correction to the first image and/or second image.
14. device according to claim 13, wherein the correction unit, including
Conversion subunit is configured to the first image and second image from red, green, blue color space conversion to color
Tune, saturation degree, lightness color space；
Subelement is counted, is configured to count respectively in the overlapping region of the first image and second image, it is described
The saturation degree and/or lightness of first image and second image；
Subelement is adjusted, is configured to according to saturation degree and/or lightness the adjustment the first image and described second counted
The saturation degree and/or lightness of pixel in image.
15. device according to claim 14, wherein the adjustment subelement is further configured to:
Determine the pixel in the overlapping region of the first image described in the first image and second image saturation degree it
With with the sum of the saturation degree of pixel in the overlapping region of the first image described in second image and second image
Ratio；
The saturation degree of pixel in second image is adjusted to the ratio times of the sum of identified saturation degree；And/or
Determine the sum of the lightness of pixel in the overlapping region of the first image described in the first image and second image,
With the ratio of the sum of the lightness of pixel in the overlapping region of the first image described in second image and second image；
The lightness of pixel in second image is adjusted to the ratio times of the sum of identified lightness.
16. device according to claim 12, wherein the concatenation unit, comprising:
First determines subelement, is configured to determine first unfolded image and postrotational the by the method for Dynamic Programming
The suture of two unfolded images；
First splicing subelement, is configured to the overlapping region to first unfolded image and postrotational second unfolded image
Multi-resolution Fusion is carried out, the first stitching image is obtained；
Second splicing subelement, is configured to respectively be added the image of the suture two sides with first stitching image
Power splicing, the weight of the pixel of first stitching image are successively decreased from the near to the remote according to the distance of pixel to suture.
17. device according to claim 12, wherein described device further includes that the first matrix establishes unit, and described first
Matrix establishes unit, comprising:
First obtains subelement, and the first history image and the second fish eye lens for being configured to obtain the shooting of the first fish eye lens are clapped
The second history image taken the photograph；
Subelement is set, is configured to that equally spaced warp and latitude is arranged in spherical surface according to the pixel number of pre-set expanded view
Line；
Subelement is mapped, is configured to the pixel in first history image according to the described first fish-eye visual angle
It is mapped to set warp and weft and is formed by intersection point, and gone through according to the described second fish-eye visual angle by described second
Pixel in history image is mapped to set warp and weft and is formed by intersection point；
First establishes subelement, the intersection point for being configured to the coordinate according to the pixel in first history image and being mapped to
Coordinate in expanded view, which is established, is directed to the described first fish-eye mapping matrix, and according in second history image
The coordinate of the coordinate of pixel and the intersection point being mapped in expanded view, which is established, is directed to the described second fish-eye mapping matrix.
18. device according to claim 12, wherein described device further includes that the second matrix establishes unit, and described second
Matrix establishes unit, comprising:
Second obtains subelement, and the third history image and the second fish eye lens for being configured to obtain the shooting of the first fish eye lens are clapped
The 4th history image taken the photograph, the third history image and the 4th history image shooting are in the same period；
First expansion subelement, is configured to be unfolded the third history image and the 4th history image, obtains third exhibition
Open image and the 4th unfolded image；
Second determines subelement, is configured to determine the overlay region in the third unfolded image and the 4th unfolded image
Domain；
Third determines subelement, and the overlapping region being configured in the third unfolded image and the 4th unfolded image is true
Fixed matched characteristic point；
First computation subunit, is configured to for identified characteristic point being mapped on spherical surface and calculates the 4th history image phase
For the deviation angle of the third history image；
Second establishes subelement, is configured to establish spin matrix according to the deviation angle.
19. device according to claim 18, wherein the third determines subelement, is further configured to:
Matched characteristic point is determined by overlapping region of the sliding window in the third unfolded image and the 4th unfolded image.
20. device described in 2-19 according to claim 1, wherein first fish eye lens and the second fish eye lens phase
To placement, first fish eye lens and the described second fish-eye visual angle are greater than 180 °.
21. device according to claim 20, wherein described device further includes that third matrix establishes unit, the third
Matrix establishes unit, comprising:
Third obtains subelement, and the 5th history image and the second fish eye lens for being configured to obtain the shooting of the first fish eye lens are clapped
The 6th history image taken the photograph, the 5th history image and the 6th history image shooting are in the same period；
Second expansion subelement, is configured to be unfolded the 5th history image and the 6th history image, obtains the 5th exhibition
Open image and the 6th unfolded image；
4th determines subelement, the first overlapping being configured to determine in the third unfolded image and the 4th unfolded image
Region and the second overlapping region；
5th determines subelement, is configured to determine matched feature in first overlapping region and second overlapping region
Point；
Second computation subunit, is configured to for the characteristic point of identified first overlapping region being mapped on spherical surface and calculates
First deviation angle of 6th history image relative to the 5th history image, and identified described second is overlapped
The characteristic point in region is mapped to the second offset that the 6th history image is calculated on spherical surface relative to the 5th history image
Angle；
Third establishes subelement, is configured to establish spin moment according to first deviation angle and second deviation angle
Battle array.
22. device according to claim 21, wherein the third establishes subelement, is further configured to:
The first spin matrix is established according to first deviation angle, and the second spin moment is established according to second deviation angle
Battle array；
Weft on globally carries out smooth operation to first spin matrix and second spin matrix, obtains predetermined number
The spin matrix that purpose is established for the warp on spherical surface.
23. a kind of electronic equipment, comprising:
One or more processors；
Storage device is stored thereon with one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors
Realize the method as described in any in claim 1-11.
24. a kind of computer-readable medium, is stored thereon with computer program, such as right is realized when which is executed by processor
It is required that any method in 1-11.
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